/**
  ******************************************************************************
  * @file    stm32f0xx_it.c
  * @brief   Interrupt Service Routines.
  ******************************************************************************
  *
  * COPYRIGHT(c) 2017 STMicroelectronics
  *
  * Redistribution and use in source and binary forms, with or without modification,
  * are permitted provided that the following conditions are met:
  *   1. Redistributions of source code must retain the above copyright notice,
  *      this list of conditions and the following disclaimer.
  *   2. Redistributions in binary form must reproduce the above copyright notice,
  *      this list of conditions and the following disclaimer in the documentation
  *      and/or other materials provided with the distribution.
  *   3. Neither the name of STMicroelectronics nor the names of its contributors
  *      may be used to endorse or promote products derived from this software
  *      without specific prior written permission.
  *
  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *
  ******************************************************************************
  */
/* Includes ------------------------------------------------------------------*/
#include "stm32f0xx_hal.h"
#include "stm32f0xx.h"
#include "stm32f0xx_it.h"

/* USER CODE BEGIN 0 */

#include "arm_math.h"

__IO uint16_t data = 0;

__IO uint16_t proud = 2400;

arm_pid_instance_q15 pid_proud;

/* USER CODE END 0 */

/* External variables --------------------------------------------------------*/
extern ADC_HandleTypeDef hadc;
extern TIM_HandleTypeDef htim1;

/******************************************************************************/
/*            Cortex-M0 Processor Interruption and Exception Handlers         */ 
/******************************************************************************/

/**
* @brief This function handles System tick timer.
*/
void SysTick_Handler(void)
{
  /* USER CODE BEGIN SysTick_IRQn 0 */

  /* USER CODE END SysTick_IRQn 0 */
  HAL_IncTick();
  HAL_SYSTICK_IRQHandler();
  /* USER CODE BEGIN SysTick_IRQn 1 */

  /* USER CODE END SysTick_IRQn 1 */
}

/******************************************************************************/
/* STM32F0xx Peripheral Interrupt Handlers                                    */
/* Add here the Interrupt Handlers for the used peripherals.                  */
/* For the available peripheral interrupt handler names,                      */
/* please refer to the startup file (startup_stm32f0xx.s).                    */
/******************************************************************************/

/**
* @brief This function handles ADC and COMP interrupts (COMP interrupts through EXTI lines 21 and 22).
*/

uint16_t adc[5];
int16_t pwm, err, reg;
uint16_t index = 0;	

void ADC1_COMP_IRQHandler(void)
{
  /* USER CODE BEGIN ADC1_COMP_IRQn 0 */
	
	adc[index] = ADC1->DR; // nacteni hodnoty ADC
	index++; // inkrementace promenne pro dalsi mereni
	
	if(index >= 4){ // pri zmereni vsech hodnot -> vynuluj index mereni
		index = 0;
	}
	
	ADC1->ISR &= ~ADC_ISR_EOC; // nulovani znaku preruseni
	
	err = proud - adc; // vypocet chyby pro vstup PS regulatoru
	
	reg = arm_pid_q15(&pid_proud, err); // volani fce pro PS regulator
	
	//reg = err;
	
	//pwm = ((uint16_t)(reg + 32768UL) * 239UL) >> 16;
	pwm = ((reg * 120UL) >> 10) + 120;	// prepocet precteneho proudu pro nastaveni nove stridy PWM
	
	if (pwm > 200) pwm = 200; // ochrana proti rozkmitani regulatoru -> nikdy nedojde k otevreni pouze horniho tranzistoru
	if (pwm < 0) pwm = 0; // pri spatne zpetne vazbe regulatoru je vypnut vystup -> dojde k uzemneni Q2
	
	TIM1->CCR1 = pwm; // nastaveni nove vypoctene stridy
	
	data = (data*7 + adc) / 8; // filtrovani AD vstupu -> overeni dat pro DEBUG
	 
	GPIOC->ODR ^= GPIO_PIN_8; // overeni spravneho volani preruseni -> slouzi pro overeni spravneho casovani
	
  /* USER CODE END ADC1_COMP_IRQn 0 */
  HAL_ADC_IRQHandler(&hadc); // nastaveni volani preruseni pro dalsi mereni
  /* USER CODE BEGIN ADC1_COMP_IRQn 1 */

  /* USER CODE END ADC1_COMP_IRQn 1 */
}

/**
* @brief This function handles TIM1 break, update, trigger and commutation interrupts.
*/
void TIM1_BRK_UP_TRG_COM_IRQHandler(void)
{
  /* USER CODE BEGIN TIM1_BRK_UP_TRG_COM_IRQn 0 */
  TIM1->SR &= ~TIM_SR_UIF;	// povoleni interrupt flagu -> moznost externe ridit periferie pomoci preruseni
	
	
  /* USER CODE END TIM1_BRK_UP_TRG_COM_IRQn 0 */
  HAL_TIM_IRQHandler(&htim1);
  /* USER CODE BEGIN TIM1_BRK_UP_TRG_COM_IRQn 1 */

  /* USER CODE END TIM1_BRK_UP_TRG_COM_IRQn 1 */
}

/* USER CODE BEGIN 1 */

/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/